Kawasaki Jukogyo Kabushiki Kaisha

Medicaroid Corporation

Kenji Noguchi

Masayuki Kamon

Tetsuya Nakanishi

Tsuyoshi Tojo

Tetsushi Ito

Masaya Yoshida

Hiroyuki Okada

Shigetsugu Tanaka

Jun Fujimori

Masao Takatori

Shohei Mase

A surgical system includes: a tool manipulator having a tool manipulator arm and a surgical tool; a console having a handling tool configured to receive a tool movement input of a surgeon for the surgical tool, the console being configured to transmit a tool movement command generated based on the tool movement input, the tool movement input including a translation amount and a rotation amount for the surgical tool; and a controller. The controller is configured to calculate an actual translation amount by multiplying the translation amount by a predetermined translation scale factor and move the surgical tool in accordance with the actual translation amount, and to calculate an actual rotation amount by multiplying the rotation amount by a predetermined rotation scale factor and move the surgical tool in accordance with the actual rotation amount. The translation scale factor and the rotation scale factor are different values.

Surgical system and method of controlling surgical system

A target provided to a substrate placement portion is detected by an object detection sensor at a plurality of rotation positions of the substrate placement portion. An index length which is a distance from a robot reference axis to the target in a direction perpendicular to an axial direction, or information correlated therewith, is calculated. At least one of a rotation position of a detection line about the robot reference axis and a rotation position of the substrate placement portion about a rotation axis when the target located on a line connecting the robot reference axis and the rotation axis is detected is calculated on the basis of the calculated index length or the calculated information correlated therewith. A direction in which the rotation axis is present as seen from the robot reference axis is specified on the basis of the calculated rotation position.

Substrate transfer apparatus and substrate placement portion rotation axis searching method

A robot system including a robot, a marker unit, a sensor, storage device, and a control device. The robot performs an operation with regard to a workpiece. The marker unit is attached to a measurement object and includes a base section and a plurality of markers attached to the base section. The sensor detects identification information and three-dimensional positions of the plurality of markers. The storage device stores teaching data including operation data and attachment position data indicating a correspondence relationship between the identification information of each of the markers and an attachment position of the corresponding marker. The control device calculates a three-dimensional position of the measurement object based on the three-dimensional positions of the plurality of markers and the attachment position data and controls the robot based on the three-dimensional position of the measurement object and the operation data so as to make the robot perform the operation.

Operation system

The method includes the steps of: detecting a part, of a surface of a target, that is located on an inner circumferential side of a predetermined circle centered on a rotation axis and passing the target, by an object detection sensor, at plural rotation positions when at least one of a rotation position of the target about the rotation axis on a substrate placement portion and a rotation position of a detection area about a robot reference axis is changed; calculating a quantity correlated with an index length representing a distance from the robot reference axis to the target when the target is detected by the object detection sensor, for each rotation position; and calculating the positional relationship between the robot reference axis and the rotation axis on the basis of, among the rotation positions, the one at which the quantity correlated with the index length is maximized or minimized.

Substrate transfer apparatus and method for calculating positional relationship between substrate transfer robot and substrate placement portion

A surgical system includes a surgical assist robot including a robot main body and a slave controller, and a console. The robot main body has an entry guide, an entry guide support device, and at least one manipulator having an end effector provided at a distal end. The entry guide includes an inner cylinder, an outer cylinder into which the inner cylinder is inserted in an insertion axial direction, and a guide advancing device that displaces the inner cylinder in the insertion axial direction with respect to the outer cylinder. While a position and a posture of the end effector that has advanced from the entry guide are maintained, the inner cylinder is caused to advance toward the end effector within a predetermined movable range along the insertion axial direction with respect to the outer cylinder.

Surgical system and method for controlling the same

A surgical system includes a robot main body, a slave controller, a display device that displays an endoscopic image, and an manipulation input device. The robot main body includes an entry guide having a plurality of guide bores, an entry guide support device that supports the entry guide, an instrument manipulator that has a surgical instrument provided at a distal end and is inserted into the entry guide, and an endoscope manipulator that has an endoscopic camera provided at a distal end and is inserted into the entry guide. The slave controller operates the robot main body such that the surgical instrument advances from an exit of the entry guide after the endoscopic camera advances from the exit of the entry guide and starts capturing in response to input of a body cavity insertion manipulation received by the manipulation input device.

A robot system which includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm having a plurality of joints, and a control device configured to control operation of the slave arm. The control device is configured, while the slave arm is operating at a speed equal to or higher than a first given the threshold, even when an operational instruction value for correcting the operation of the slave arm is inputted from the manipulator during an automatic operation of the slave arm, to prevent the correction of the operation of the slave arm.

Robot system and method of operating the same

A surgical robot which enables an operator to easily judge which medical instrument is selected is provided. This surgical robot has a robot body which selectively operates a plurality of medical instruments, an input unit configured to input control information of the robot body, the input unit being common among the plurality of medical instruments, and a display unit configured to display an image of a surgical site of a patient, the display unit having a selecting situation display function which displays a selecting situation of the plurality of medical instruments.

Surgical robot

It is an object to provide a surgical robot which can enhance flexibility of treatment while ensuring sufficient safety of a surgery. The surgical robothas a robot body, an input unitfor inputting control information of the robot body, a control unitfor controlling the robot bodybased on the control information input to the input unit, an input side abnormality detection unitfor detecting abnormality of an operator, an output side abnormality detection unitfor detecting abnormality of a surgery state, an abnormality countermeasure unitfor dealing with the abnormality of the surgery state detected by the output side abnormality detection unit, contents of an abnormality countermeasure action being changed based on a detection result of the input side abnormality detection unit

Surgical robot and method for controlling the same

It is an object to provide a surgical robot which can enhance flexibility of treatment while ensuring sufficient safety of a surgery. The surgical robot has a robot body, an input unit for inputting control information of the robot body, a control unit for controlling the robot body based on the control information input to the input unit, an input side abnormality detection unit for detecting abnormality of an operator, an output side abnormality detection unit for detecting abnormality of a surgery state, an abnormality countermeasure unit for dealing with the abnormality of the surgery state detected by the output side abnormality detection unit, contents of an abnormality countermeasure action being changed based on a detection result of the input side abnormality detection unit.

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Kobe, Japan

Kenji Noguchi